Add GitHub actions CI

.github/check_style.sh

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+#!/usr/bin/env bash
+
+# Given a set of commits current script checks the style based on clang_format
+# on the list of changed files that exist in the commits.
+#
+# Script should be called from a travis.yml file.
+
+# Functions
+######################
+
+# This is run by travis automatically from the root of the project
+
+set +e
+set +x
+
+DIRS_IN="modules"
+DIRS_OUT="demos docs modules/mp2p_icp/3rdparty"
+LANGS=cpp
+FORMAT_CODE_BIN="scripts/clang_git_format/format_code.py"
+
+function lint() {
+
+# Get list of changed files for lint to run on. Grep only .h, .cpp files and
+# mind the DIRS_IN, DIRS_OUT vars
+
+# Following command fails if you "git commit --amend" - Works correctly on
+# standard commits
+echo "commit_range: $TRAVIS_COMMIT_RANGE"
+changed_files=$(git diff --name-only $TRAVIS_COMMIT_RANGE)
+printf "Summary of changed files:\n\n${changed_files}\n\n"
+
+# include
+regexp_in=
+for i in $DIRS_IN; do
+  if [ -n "${regexp_in}" ]; then
+    regexp_in="${regexp_in}\|${i}"
+  else
+    regexp_in="${i}"
+  fi
+done
+
+# exclude
+regexp_out=
+for i in $DIRS_OUT; do
+  if [ -n "${regexp_out}" ]; then
+    regexp_out="${regexp_out}\|${i}"
+  else
+    regexp_out="${i}"
+  fi
+done
+
+echo "regexp_in: ${regexp_in}"
+echo "regexp_out: ${regexp_out}"
+
+valid_files=$(echo ${changed_files} \
+  | xargs -d' ' -n 1 \
+  | grep -i -e "${regexp_in}" \
+  | grep -v "${regexp_out}" \
+  | grep -ie ".*\.h$\|.*\.cpp")
+
+
+printf "Valid files for lint:\n\t${valid_files}\n"
+if [ -n "${valid_files}" ]; then
+  ${FORMAT_CODE_BIN} -g .  --lint_files ${valid_files}
+else
+  true
+fi
+exit $?
+
+}
+
+function lint_all() {
+
+${FORMAT_CODE_BIN} -g . --lang ${LANGS} \
+  -o ${DIRS_OUT} -i ${DIRS_IN} \
+  -l
+
+exit $?
+}
+
+lint_all

.github/python_clang_format_reqs.txt

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+# Requisites for the clang-format linter script
+argparse
+colorlog

.github/workflows/build-ros.yml

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+# Based on GTSAM file (by @ProfFan)
+name: CI ROS
+
+on: [push, pull_request]
+
+jobs:
+  build:
+    name: ${{ matrix.name }}
+    runs-on: ${{ matrix.os }}
+
+    env:
+      CTEST_OUTPUT_ON_FAILURE: ON
+      CTEST_PARALLEL_LEVEL: 1
+      VERBOSE: 1  # to show all cmake scripts debug info
+
+    strategy:
+      fail-fast: false
+      matrix:
+        # Github Actions requires a single row to be added to the build matrix.
+        # See https://help.github.com/en/articles/workflow-syntax-for-github-actions.
+        name: [
+          ros-rolling-u22.04
+        ]
+
+        include:
+          - name: ros-rolling-u22.04
+            os: ros:rolling-ros-base
+
+    steps:
+      - name: Checkout
+        uses: actions/checkout@master
+
+      - name: Git submodule
+        run: |
+          git submodule sync
+          git submodule update --init --recursive
+
+      - name: Install rosdep dependencies
+        run: |
+          # See bug/issue: https://github.com/orgs/community/discussions/47863
+          sudo apt-get -y update
+          rosdep install --from-paths . --ignore-src -r -y
+
+      - name: Build with colcon
+        run: |
+          source /opt/ros/*/setup.bash
+          colcon build --symlink-install

.github/workflows/check-clang-format.yml

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+name: CI Check clang-format
+
+on: [push, pull_request]
+
+jobs:
+  build:
+    name: ${{ matrix.name }}
+    runs-on: ${{ matrix.os }}
+
+    strategy:
+      fail-fast: false
+      matrix:
+        # Github Actions requires a single row to be added to the build matrix.
+        # See https://help.github.com/en/articles/workflow-syntax-for-github-actions.
+        name: [
+          clang-format-check
+        ]
+
+        include:
+          - name: clang-format-check
+            os: ubuntu-latest
+
+    steps:
+      - name: Checkout
+        uses: actions/checkout@master
+
+      - name: Git submodule
+        run: |
+          git submodule sync
+          git submodule update --init --recursive
+
+      - name: Install Dependencies
+        run: |
+          sudo apt install clang-format-11 -yq
+          pip3 install --user -r .github/python_clang_format_reqs.txt
+
+      - name: Check code style
+        run: |
+          echo "TASK=lint_all" >> $GITHUB_ENV
+          bash .github/check_style.sh

scripts/clang_git_format/.gitignore

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+# Compiled source #
+###################
+*.com
+*.class
+*.dll
+*.exe
+*.o
+*.so
+*.pyc
+
+# Packages #
+############
+# it's better to unpack these files and commit the raw source
+# git has its own built in compression methods
+*.7z
+*.dmg
+*.gz
+*.iso
+*.jar
+*.rar
+*.tar
+*.zip
+
+# Logs and databases #
+######################
+*.log
+*.sql
+*.sqlite
+
+# OS generated files #
+######################
+.DS_Store
+.DS_Store?
+._*
+.Spotlight-V100
+.Trashes
+ehthumbs.db
+Thumbs.db
+
+build/